X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_skytraq.c;h=84616a05d0a8729de7e7379387e7cf898424dd5f;hb=aab7b31b71aa7c87c5a5003084e4b7773c30835f;hp=1d457a1fbf60dabb835fd3ed0f216a10e391dc55;hpb=713bd503902526c17a7657c18be947ef8fa6a47a;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_skytraq.c b/src/drivers/ao_gps_skytraq.c
index 1d457a1f..84616a05 100644
--- a/src/drivers/ao_gps_skytraq.c
+++ b/src/drivers/ao_gps_skytraq.c
@@ -19,9 +19,17 @@
 #include "ao.h"
 #endif
 
-#define AO_GPS_LEADER          2
+#ifndef ao_gps_getchar
+#define ao_gps_getchar	ao_serial1_getchar
+#endif
+
+#ifndef ao_gps_putchar
+#define ao_gps_putchar	ao_serial1_putchar
+#endif
 
-static __code char ao_gps_header[] = "GP";
+#ifndef ao_gps_set_speed
+#define ao_gps_set_speed	ao_serial1_set_speed
+#endif
 
 __xdata uint8_t ao_gps_mutex;
 static __data char ao_gps_char;
@@ -50,7 +58,7 @@ static __pdata struct ao_telemetry_satellite	ao_gps_tracking_next;
     (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
 
 static __code uint8_t ao_gps_config[] = {
-	SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
+	SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */
 	/* gga interval */
 	/* gsa interval */
 	/* gsv interval */
@@ -72,7 +80,7 @@ ao_gps_lexchar(void)
 	if (ao_gps_error)
 		c = '\n';
 	else
-		c = ao_serial_getchar();
+		c = ao_gps_getchar();
 	ao_gps_cksum ^= c;
 	ao_gps_char = c;
 }
@@ -285,7 +293,7 @@ ao_nmea_gga(void)
 	if (!ao_gps_error) {
 		ao_mutex_get(&ao_gps_mutex);
 		ao_gps_tick = ao_gps_next_tick;
-		ao_xmemcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
+		ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_data);
 	}
@@ -343,8 +351,7 @@ ao_nmea_gsv(void)
 		ao_gps_tracking_next.channels = 0;
 	else if (done) {
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&ao_gps_tracking_data, &ao_gps_tracking_next,
-		       sizeof(ao_gps_tracking_data));
+		ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
 		ao_mutex_put(&ao_gps_mutex);
 		ao_wakeup(&ao_gps_tracking_data);
 	}
@@ -407,7 +414,7 @@ ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
 		uint8_t	c = *b++;
 		if (c == 0xa0)
 			ao_delay(AO_MS_TO_TICKS(500));
-		ao_serial_putchar(c);
+		ao_gps_putchar(c);
 	}
 }
 
@@ -419,11 +426,12 @@ ao_gps_nmea_parse(void)
 	ao_gps_cksum = 0;
 	ao_gps_error = 0;
 
-	for (a = 0; a < AO_GPS_LEADER; a++) {
-		ao_gps_lexchar();
-		if (ao_gps_char != ao_gps_header[a])
-			return;
-	}
+	ao_gps_lexchar();
+	if (ao_gps_char != 'G')
+		return;
+	ao_gps_lexchar();
+	if (ao_gps_char != 'P')
+		return;
 
 	ao_gps_lexchar();
 	a = ao_gps_char;
@@ -448,7 +456,7 @@ ao_gps_nmea_parse(void)
 void
 ao_gps(void) __reentrant
 {
-	ao_serial_set_speed(AO_SERIAL_SPEED_9600);
+	ao_gps_set_speed(AO_SERIAL_SPEED_9600);
 
 	/* give skytraq time to boot in case of cold start */
 	ao_delay(AO_MS_TO_TICKS(2000));
@@ -457,10 +465,9 @@ ao_gps(void) __reentrant
 
 	for (;;) {
 		/* Locate the begining of the next record */
-		if (ao_serial_getchar() == '$') {
+		if (ao_gps_getchar() == '$') {
 			ao_gps_nmea_parse();
 		}
-
 	}
 }